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# Copyright (C) 2007 Free Software Foundation, Inc.
# This file contains code that is adapted from Ajenti.
# Written by Eugeny Pankov, 2010-2011.
#
# Ajenti is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; only
# version 3 of the License.
#
# Ajenti is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with Ajenti; if not, see <http://www.gnu.org/licenses/>
import sys
import os
import time
import logging
from SimpleXMLRPCServer import SimpleXMLRPCServer
from storm.config import Config
from storm.control import Control
from storm.auto import AutoPilotManager
from storm import version
from datetime import datetime
class DebugHandler(logging.StreamHandler):
def __init__(self):
self.capturing = False
self.buffer = ''
def start(self):
self.capturing = True
def stop(self):
self.capturing = False
def handle(self, record):
if self.capturing:
self.buffer += self.formatter.format(record) + '\n'
class ConsoleHandler(logging.StreamHandler):
def __init__(self, stream, debug):
self.debug = debug
logging.StreamHandler.__init__(self, stream)
def handle(self, record):
if not self.stream.isatty():
return logging.StreamHandler.handle(self, record)
s = ''
d = datetime.fromtimestamp(record.created)
s += d.strftime("\033[37m%d.%m.%Y %H:%M \033[0m")
if self.debug:
s += ('%s:%s'%(record.filename,record.lineno)).ljust(30)
l = ''
if record.levelname == 'DEBUG':
l = '\033[37mDEBUG\033[0m '
if record.levelname == 'INFO':
l = '\033[32mINFO\033[0m '
if record.levelname == 'WARNING':
l = '\033[33mWARN\033[0m '
if record.levelname == 'ERROR':
l = '\033[31mERROR\033[0m '
s += l.ljust(9)
s += record.msg
s += '\n'
self.stream.write(s)
def make_log(debug=False, log_level=logging.INFO):
log = logging.getLogger('storm')
log.setLevel(logging.DEBUG)
stdout = ConsoleHandler(sys.stdout, debug)
stdout.setLevel(log_level)
dformatter = logging.Formatter('%(asctime)s %(levelname)-8s %(module)s.%(funcName)s(): %(message)s')
stdout.setFormatter(dformatter)
log.addHandler(stdout)
return log
def run_server(log_level=logging.INFO, config_file=''):
log = make_log(debug=log_level==logging.DEBUG, log_level=log_level)
log.info('Storm %s' % version)
config = Config()
if config_file:
log.info('Using config file %s' % config_file)
config.read(config_file)
else:
log.info('Using default settings')
config.set('log_facility', log)
control = Control(config)
config.set('control_facility', control)
autopilot = AutoPilotManager(config)
host = config.get('xmlrpc','bind_host')
port = config.getint('xmlrpc','bind_port')
log.info('xmlrpc listening on %s:%d' % (host, port))
server = SimpleXMLRPCServer((host, port), logRequests=False, allow_none=True)
server.register_function(control.motors.set_pulse, "set_pulse")
server.register_function(control.cam.play, "cam_play")
server.register_function(control.cam.pause, "cam_pause")
server.register_function(autopilot.start, "autopilot_run")
server.register_function(autopilot.stop, "autopilot_stop")
server.register_function(control.move_forward, "move_forward")
server.register_function(control.move_left, "move_left")
server.register_function(control.move_right, "move_right")
server.register_function(control.move_up, "move_up")
server.register_function(control.move_down, "move_down")
server.register_function(control.hover, "hover")
log.info('Starting server')
server.serve_forever()
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